Chikatsu, Hirofumi 
It has been shown that the unknown rotation parameters, 4; 2); for each sequential image can be obtained as the 
sum of changing vertical and horizontal values resulting ing (0, respectively (Chikatsu and et al., 1996). 
However in case of the HVT system, similarly due to the discord between the center of the body and the lens, 
rotation parameters, i;, J; , é, for each stereo image has to be corrected to respond to the rotation of the body V; and 
head H; by the following equation, 
-—I ; 
Q;--—tan (055/635), p; = sin-! (c13), K ; = -tan”! (c,2/e11) 3) 
where, 
cj; CI2 CI13 a; 0]2 913 cos( Hj ) 0 sin( Hj ) 1 0 0 
Cy; €22 C€23|7|?21 az 53 0 1 0 0 cos( V ) - sin(V ; ) 
€3] €32 C33 az; a3; azz||-sin(Hj) 0 cos( Hj) 0 sin(V;) cos(Vj) 
and 
a, =cospcosK, a12 =—cospsinK, A13 =sinp 
45; —cosOsinK-rsinQsinQcosK, a» —cosQcosK—sinOsinQsinK, ay; =—sin@cosQ 
az; =Sin@sinK—cosWsinPcosK, az; = Sin@WcosK+cosWsin@PsinK,  à33 =cosWcosmp 
4 AQURACY EVALUATION OF HVT 
In order to evaluate an accuracy of the HVT, 
following fundamental experiments were performed 
using 16mm lens. Figure 5 shows the concept of the 
test field and Figure 6 shows the details of the target. 
The target set on the actuator so that the changing 
values of the target can be controlled through a PC. 
Black and white target in Figure 5 was used as the Po 
in calibration procedure, and 42 black circle points are 
check points for checking accuracy. 
+Test1l 
Camera calibrations were performed for the target at 
Omm position, and stereo image A; was taken. The 
HVT rotated to left side and stereo image A was 
taken at -250mm, and A was taken at -500 mm. Figure 5. Test field 
Similarly, stereo image A4 and As were taken at +250 
mm, +500 mm on the right side, respectively. Then, 
the HVT rotated to -90°, and stereo image Ay was 
taken. 
  
+Test 2, 
On the contrary test 1, camera calibrations were 
performed for the target at -90° position and stereo 
image Ag was taken. Then, the HVT rotated +90°, and 
stereo image A1 was taken at 0mm position. Similarly, 
the HVT rotated to left side and stereo image A» and 
A3 were taken at -250mm, -500 mm position, and 
stereo image A4 and As were taken at +250 mm, 500 
mm on the right side, respectively. 
  
Figure 6. Configuration of target 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 133